From 9f0225c6d8572346f6187f2782f116f92de2542e Mon Sep 17 00:00:00 2001
From: hofee <64160135+GitHofee@users.noreply.github.com>
Date: Wed, 30 Oct 2024 13:49:44 -0500
Subject: [PATCH] update renderer

---
 data_renderer.py | 36 ++++++++++++++++--------------------
 1 file changed, 16 insertions(+), 20 deletions(-)

diff --git a/data_renderer.py b/data_renderer.py
index c3a2f21..fff9077 100644
--- a/data_renderer.py
+++ b/data_renderer.py
@@ -6,7 +6,7 @@ import mathutils
 import numpy as np
 sys.path.append(os.path.dirname(os.path.abspath(__file__)))
 from utils.blender_util import BlenderUtils
-
+from utils.material_util import MaterialUtil
 
 class DataRenderer:
     def __init__(self):
@@ -23,8 +23,8 @@ class DataRenderer:
                                 "near_plane": 0.01,
                                 "far_plane": 5,
                                 "fov_vertical": 25,
-                                "resolution": [1280, 800],
-                                "eye_distance": 0.15,
+                                "resolution": [640, 400],
+                                "eye_distance": 0.10,
                                 "eye_angle": 25
                             },
                             "Light": {
@@ -64,9 +64,17 @@ class DataRenderer:
         if "." in object_name:
             object_name = object_name.split(".")[0]
         BlenderUtils.set_camera_at(cam_pose)
-        BlenderUtils.render_and_save(temp_dir, temp_file_name, binocular_vision=self.binocular_vision)
-        
-    
+        BlenderUtils.render_mask(temp_dir, temp_file_name, binocular_vision=self.binocular_vision)
+        BlenderUtils.render_normal_and_depth(temp_dir, temp_file_name, binocular_vision=self.binocular_vision)
+        BlenderUtils.save_cam_params(temp_dir, temp_file_name, binocular_vision=self.binocular_vision)
+        depth_dir = os.path.join(temp_dir, "depth")
+        for depth_file in os.listdir(depth_dir):
+            if not depth_file.endswith(".png"):
+                name, _ = os.path.splitext(depth_file)
+                file_path = os.path.join(depth_dir, depth_file)
+                new_file_path = os.path.join(depth_dir, f"{name}.png")
+                os.rename(file_path,new_file_path)
+                
     def restore_scene(self, restore_info):
 
         for obj_name, obj_info in restore_info.items():
@@ -82,12 +90,7 @@ class DataRenderer:
                     obj.location = mathutils.Vector(obj_info["location"])
                     obj.rotation_euler = mathutils.Vector(obj_info["rotation_euler"])
                     obj.scale = mathutils.Vector(obj_info["scale"])
-                    mat = bpy.data.materials.new(name="GreenMaterial")
-                    mat.diffuse_color = (0.0, 1.0, 0.0, 1.0)  # Green with full alpha (1.0)
-                    if len(obj.data.materials) > 0:
-                        obj.data.materials[0] = mat
-                    else:
-                        obj.data.materials.append(mat)
+                    MaterialUtil.change_object_material(obj, MaterialUtil.create_mask_material(color=(0, 1.0, 0)))
                     self.target_obj = obj
 
     def restore_display_platform(self, platform_info):
@@ -96,16 +99,9 @@ class DataRenderer:
         platform.name = BlenderUtils.DISPLAY_TABLE_NAME
         platform.location = mathutils.Vector(platform_info["location"])
 
-        mat = bpy.data.materials.new(name="RedMaterial")
-        mat.diffuse_color = (1.0, 0.0, 0.0, 1.0)  # Red with full alpha (1.0)
-        if len(platform.data.materials) > 0:
-            platform.data.materials[0] = mat
-        else:
-            platform.data.materials.append(mat)
-
         bpy.ops.rigidbody.object_add()
         bpy.context.object.rigid_body.type = 'PASSIVE'
-        bpy.ops.object.shade_auto_smooth()
+        MaterialUtil.change_object_material(platform, MaterialUtil.create_mask_material(color=(1.0, 0, 0)))
 
 def main(temp_dir):
     params_data_path = os.path.join(temp_dir, "params.json")